Mechatronics最新文献

英文中文

Mapping noise optimization of the cartographer on the premise of comparative experimental analysis

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-01-01 DOI: 10.1016/j.mechatronics.2024.103289

Xuefei Liu, Haifei Chen, Zicheng Gao, Meirong Chen, Lijun Li, Kai Liao

To diminish mapping noise caused by excessive delay and accumulated odometer errors, this paper investigates the optimization problem of the Cartographer simultaneous localization and mapping (SLAM) algorithm based on comparative experiments. Firstly, with the premise of normalization, comparative experimental analysis was conducted on four mainstream LiDAR SLAM algorithms. It solves the problem that the comparative analysis of current LiDAR SLAM algorithms mostly stays in the simulation level and few on experiment, and also confirm the superiority of Cartographer and discover its shortcomings. Then, make further optimizations for Cartographer: (1) Introducing a threshold to reduce computational load, so that global SLAM and local SLAM always keep up with real-time input, solving the problem of excessive delay between global SLAM and local SLAM; (2) Optimizing the rotation weight based on the confidence level of local SLAM or odometer to reduce the accumulated odometer error. Finally, an autonomous navigation experiment for complex indoor scenes was designed using the Ackerman car as the platform, and the A* and TEB algorithms were introduced to verify the optimized Cartographer mapping effect. The experimental results show that the optimized Cartographer reduces noise and greatly improves subsequent navigation accuracy and stability.

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引用次数: 0

Real-time angle estimation in IMU sensors: An adaptive Kalman filter approach with forgetting factor

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-12-26 DOI: 10.1016/j.mechatronics.2024.103280

Zolfa Anvari , Ali Mirhaghgoo , Yasin Salehi

In recent years, the applications of Inertial Measurement Unit (IMU) sensors have witnessed significant growth across multiple fields. However, challenges regarding angle estimation using these sensors have emerged, primarily because of the lack of accuracy in accelerometer-based dynamic motion measurements and the associated bias and error accumulation when combined with gyroscope integration. Consequently, the Kalman filter has become a popular choice for addressing these issues, as it enables the sensor to operate dynamically. Despite its widespread use, the Kalman filter requires precise noise statistics estimation for optimal noise cancellation. To accommodate this requirement, adaptive Kalman filter algorithms have been developed for estimating zero-mean Gaussian process matrix (

Q

) and measurement matrix (

R

) variances. This study introduces a real-time adaptive approach that employs a forgetting factor to precisely estimate roll and pitch angles in a 6-axis IMU. The study’s novelty lies in its algorithm, which computes the forgetting factor based on the estimation error of the last samples in the sequence. Experimental results for roll angle indicate that, in response to a step change signal, this method achieves a 54%, 39%, and 70% reduction in RMS error relative to the raw sensor data, traditional Kalman filter, and a hybrid adaptive method, respectively. Moreover, this technique exhibits significant improvements in both fixed and sinusoidal conditions for roll and pitch angles, successfully carrying out tasks within required timescales without failures related to computation time.

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引用次数: 0

Using Franka Emika collaborative robot as a haptic device

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-12-13 DOI: 10.1016/j.mechatronics.2024.103287

Wilson Brian, Sebastián Gutiérrez, Jorge Juan Gil

This study investigates the feasibility of using a collaborative robot as a haptic device. The research analyzes the robot’s behavior across a range of frequencies relevant to human interaction under two opposite operating conditions: free movement and highly constrained movement. To characterize the robot’s performance, simplified models are estimated. The resulting dynamics is compared with those of other mechanisms specifically designed for haptic rendering. The study identifies two key challenges: the anisotropy of the apparent inertia and the presence of resonance. In particular, resonance in constrained motion results in a reduced perceived impedance, deviating from the sensation of rigid contact. In order to address this issue, the study examines the application of viscosity to dampen resonance and improve user experience. The findings indicate that with appropriate adjustments and control techniques, a collaborative robot can indeed serve as a haptic device, offering comparable performance to that of specialized haptic mechanisms.

引用次数: 0

Three degree-of-freedom control of an electrostatically suspended disk

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-12-06 DOI: 10.1016/j.mechatronics.2024.103271

Kenneth E. Pyle , Robert T. M’Closkey

A system for suspending and manipulating the vertical position, pitch and roll of a silicon disk is proposed. The disk is situated between sets of transformer-coupled electrodes that measure disk-electrode differential capacitances and exert electrostatic forces on the disk. There is no physical contact with the disk when it is suspended. Models of the system reveal three unstable modes. An initial controller is designed to maximize robustness to perturbations of the plant’s normalized coprime factors. With the disk suspended, an empirical frequency response of the plant is measured and used to subsequently identify a parametric model. An updated controller based on the identified model improves closed-loop performance. Estimates of noise spectral densities show the RMS uncertainties of the disk position and angles are less than 7 nm and 0.5

μ

rad, respectively, over the 2.5 kHz signal bandwidth.

引用次数: 0

Gravity compensation mechanism with torque adjustment using magnetic energy

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-12-04 DOI: 10.1016/j.mechatronics.2024.103279

Leimeng Shan , Weizhen Zhu , Kyung-min Lee

In this paper, a gravity compensation mechanism using non-contact magnetic energy is proposed. The non-contact magnetic torque enabled a working range of over 360° and an adjustable maximum compensation torque from 32 to 72 Nm. The proposed mechanism has a simple structure consisting of two stators and a rotating rotor. The stator consists of a yoke and two fan-shaped permanent magnets (PMs) that are magnetized axially and attached to one side of the yoke in different magnetization directions. The rotor consisted of two PMs and a rotating axis. A total of six PMs form a magnetic flux circulation. The rotation of the rotor cuts the magnetic flux circulation and generates the magnetic attraction and repulsion forces between the PMs. The shapes of the PMs are designed to generate the desired sinusoidal torque profiles over 360° and to maximize the compensation torque. The detailed design parameters of the PM and yoke were determined using finite element analysis. It was experimentally verified that the mechanism generates the expected torque and reduces the output torque and average power consumption of a driving motor.

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引用次数: 0

Mechatronic design of a 3 degrees of freedom parallel kinematics manipulator with integrated force plate for human balance evaluation and rehabilitation✰ 用于人体平衡评估和康复的集成受力板的 3 自由度平行运动学机械手的机电一体化设计✰

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-25 DOI: 10.1016/j.mechatronics.2024.103278

Francisco J. Campa, Mikel Diez, Javier Corral, Erik Macho, Saioa Herrero, Charles Pinto

One of the main sequelae of stroke is hemiparesis or partial hemiplegia. This condition causes patients to undergo lengthy rehabilitation processes to recover balance and gait. Thus, it is required to have tools to systematize rehabilitation tasks while monitoring the evolution of the patient over time. This paper presents a new prototype based on a 3PRS parallel kinematic manipulator with a force plate in the end effector to rehabilitate and evaluate balance by measuring the Center of Pressure of the patient, a widely studied parameter in the field of posturography. The prototype has been designed to be able to measure in a reliable and repeatable way and, as it is a medical device, it includes design considerations related to ease of use, visual feedback and safety. The paper describes the kinematics, dynamics, mechatronic modelling and mechanical design of the parallel kinematics machine, as well as the design of the force plate in charge of determining the location of the Center of Pressure. Also, a formulation is proposed to correct the influence of the inertial and gravitatory forces on the top plate during the motion of the platform on the measurement. Finally, the prototype has been evaluated experimentally to compare the motion with the developed models and to determine the precision and robustness against noise and motion related effects.

中风的主要后遗症之一是偏瘫或部分偏瘫。这种情况导致患者需要经过漫长的康复过程才能恢复平衡和步态。因此，需要有工具将康复任务系统化，同时监测患者随着时间的推移而发生的变化。本文介绍了一种基于 3PRS 平行运动机械手的新原型，其末端效应器中带有一个测力板，可通过测量患者的压力中心来康复和评估平衡能力。该原型的设计目的是能够以可靠和可重复的方式进行测量，由于它是一种医疗设备，因此在设计时考虑到了易用性、视觉反馈和安全性。论文介绍了平行运动学机器的运动学、动力学、机电一体化建模和机械设计，以及负责确定压力中心位置的力板的设计。此外，还提出了一个公式，用于修正测量平台运动时顶板上的惯性力和重力的影响。最后，对原型进行了实验评估，以比较运动与所开发模型的差异，并确定精度和鲁棒性，以抵御噪音和运动相关的影响。

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引用次数: 0

Spatio-temporal modeling for overactuated motion control 过动运动控制的时空建模

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-20 DOI: 10.1016/j.mechatronics.2024.103270

Paul Tacx , Matthijs van de Vosse , Robbert Voorhoeve , Gert Witvoet , Marcel Heertjes , Tom Oomen

Increasingly stringent performance requirements for motion systems necessitate explicit control of the flexible dynamic behavior. The aim of this paper is to present an approach to identify spatio-temporal models of overactuated mechatronic systems with a limited number of spatially distributed sensors. The proposed approach exploits the modal modeling framework and exploits the symmetry in modal models to enhance the spatial resolution of the identified spatially-sampled modal models. Spatio-temporal models are identified by updating prior finite element method-based models based on the identified extended modal models. The experimental results illustrate the effectiveness of the proposed approach for the identification of complex position-dependent mechanical systems.

对运动系统的性能要求越来越严格，因此有必要对灵活的动态行为进行明确控制。本文旨在提出一种方法，利用数量有限的空间分布式传感器来识别超动机电一体化系统的时空模型。所提出的方法利用了模态建模框架，并利用模态模型的对称性来提高所识别的空间采样模态模型的空间分辨率。在已识别的扩展模态模型的基础上，通过更新先前基于有限元法的模型来识别时空模型。实验结果表明了所提出的方法在识别复杂的位置相关机械系统方面的有效性。

引用次数: 0

FPAA-based control of a high-speed flexure-guided AFM nanopositioner 基于 FPAA 的高速挠性制导 AFM 纳米定位器控制技术

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-16 DOI: 10.1016/j.mechatronics.2024.103268

Erfan Khodabakhshi, S.O. Reza Moheimani

This paper presents the design, characterization, and control of a novel flexure-guided piezoelectrically actuated atomic force microscope (AFM) nanopositioner. The planar scanner achieves a scan range of

5.8, μ m

in both X- and Y-directions with a first resonance frequency above

15 kHz

. Lateral displacements are measured using an interferometer sensor. A signal-transformation-based control technique and a signal pre-shaping method are explored to enhance raster scanning. An integral resonant controller (IRC) increases closed-loop bandwidth by damping the scanner’s fast axis dominant mode. Since the high-bandwidth system requires a high sampling rate, the IRC scheme is implemented using a field-programmable analog array (FPAA). The tracking performance is improved by a double integrator. The effectiveness of the signal transformation approach (STA) with the pre-shaping method in the closed-loop system is investigated. Tracking errors at frequencies from

10 Hz

300 Hz

maintained RMS values below

50 nm

. Results demonstrate the technique’s success, achieving rapid time-lapse AFM imaging at 10 frames per second over a

2 μ m \times 2 μ m

scan area.

本文介绍了一种新型挠性导向压电致动原子力显微镜（AFM）纳米定位器的设计、表征和控制。该平面扫描器在 X 和 Y 方向的扫描范围均达到 5.8 μm，第一共振频率高于 15kHz。横向位移通过干涉仪传感器测量。探索了一种基于信号变换的控制技术和一种信号预整形方法，以增强光栅扫描能力。积分谐振控制器（IRC）通过抑制扫描仪的快轴主导模式来增加闭环带宽。由于高带宽系统需要较高的采样率，因此采用了现场可编程模拟阵列（FPAA）来实现 IRC 方案。双积分器提高了跟踪性能。研究了信号变换方法（STA）与预整形方法在闭环系统中的有效性。频率从 10Hz 到 300Hz 的跟踪误差均方根值保持在 50nm 以下。结果表明该技术非常成功，在 2μm×2μm 的扫描区域内实现了每秒 10 帧的快速延时原子力显微镜成像。

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引用次数: 0

Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression 基于双气门并联和自适应偏心扭矩抑制的多气缸调平控制系统

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-09 DOI: 10.1016/j.mechatronics.2024.103269

Heng Du , Ye Wu , Zhizhong Zhang , Qigang Wang , Jiahe Luo , Jinghui Fang

In the composite material hydraulic press, the mismatched velocities between the movable beam and the multiple leveling cylinders produce disturbing superfluous forces, and the eccentric torque causes the movable beam to tilt when pressed. They severely damage the leveling displacement accuracy and limit the implementation of muti-cylinder system in higher precision field. A dual-loop leveling control strategy is proposed, comprising a dual-valve parallel pressure inner loop and an adaptive control displacement outer loop. Firstly, a dual-valve parallel scheme is proposed in the pressure inner loop, where a compensation valve is added in parallel with the original single-valve. A variable compensation valve spool algorithm is designed, considering both velocity and displacement to mitigate the effects of superfluous forces and achieve precise and smooth leveling. Secondly, a control strategy for the adaptive displacement outer loop is designed to estimate and compensate for eccentric torque. An innovative torque decoupling algorithm is formulated to overcome the challenge of indeterminate coupling relations between inner and outer loops caused by the adaptive incorporation of dual-loop control. Then, eccentric load compensation torque is decoupled to the multiple leveling cylinders and derives the desired pressure for the inner loop. The inner loop suppresses the disturbance of eccentric torque to enhance robust leveling precision. Finally, the effectiveness of the proposed strategy was validated through experimentation on the constructed hydraulic press leveling system test bench. The control strategy presented in this paper provides a reference for achieving smooth and precise control in multi-cylinder systems.

在复合材料液压机中，活动横梁与多个调平油缸之间的速度不匹配会产生干扰赘力，偏心扭矩会导致活动横梁在受压时倾斜。这些因素严重破坏了调平位移精度，限制了多油缸系统在更高精度领域的应用。本文提出了一种由双阀并联压力内环和自适应控制位移外环组成的双环调平控制策略。首先，在压力内环中提出了双阀并联方案，即在原有单阀的基础上并联一个补偿阀。设计了一种可变补偿阀阀芯算法，同时考虑了速度和位移，以减轻多余力的影响，实现精确平稳的调平。其次，设计了自适应位移外环的控制策略，以估计和补偿偏心扭矩。制定了一种创新的扭矩解耦算法，以克服自适应双环控制带来的内外环间不确定耦合关系的挑战。然后，偏心负载补偿扭矩与多个调平气缸解耦，并为内环导出所需的压力。内环抑制偏心扭矩的干扰，从而提高稳健的调平精度。最后，通过在构建的液压机调平系统试验台上进行实验，验证了所提策略的有效性。本文提出的控制策略为实现多缸系统的平稳和精确控制提供了参考。

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Active safety control for distributed drive electric vehicle with unilateral motor fault based on mechanical redundancy 基于机械冗余的分布式驱动电动汽车单侧电机故障主动安全控制系统

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2024-11-06 DOI: 10.1016/j.mechatronics.2024.103266

Changan Ren , Lipeng Zhang , Minghan Chen , Yang Zhang , Minghui Zhao

Distributed drive can significantly improve the dynamics performance of electric vehicles. However, once the drive motor fails, it will cause harm to passengers and the surrounding environment. To solve the above problems, an active safety control method is proposed based on the mechanical redundancy of a centralized and distributed coupling transmission, which can switch the vehicle drive mode from two motors distributed drive to one motor centralized drive. Regarding fault diagnosis, a motor torque observer is established based on the coupling relationship between the steering system and the drive system to address motor communication faults. To reduce the risk of misdiagnosis, a combined fault diagnosis strategy that considers both torque difference and torque change rate is proposed. The effectiveness of the method is proved by simulation and real vehicle tests. In the aspect of safety control, a fast mode switching method from the distributed drive to the centralized drive is proposed. The test results show that the shift time of the fast mode switching method is reduced by 13 % compared with the traditional switching method, which can reduce the time of power interruption and quickly restore the driving force to ensure the vehicle safety.

分布式驱动可以大大提高电动汽车的动力性能。然而，一旦驱动电机发生故障，将对乘客和周围环境造成危害。为解决上述问题，提出了一种基于集中式和分布式耦合传动机械冗余的主动安全控制方法，可将车辆驱动模式从两个电机分布式驱动切换为一个电机集中式驱动。在故障诊断方面，根据转向系统和驱动系统之间的耦合关系建立了电机扭矩观测器，以解决电机通信故障。为降低误诊风险，提出了一种同时考虑转矩差和转矩变化率的组合故障诊断策略。模拟和实车测试证明了该方法的有效性。在安全控制方面，提出了一种从分布式驱动到集中式驱动的快速模式切换方法。测试结果表明，与传统切换方法相比，快速模式切换方法的切换时间缩短了 13%，可以减少动力中断时间，快速恢复驱动力，确保车辆安全。

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